This multitasking system contains only task control logic - no semaphores, mailboxes, etc. Tasks are scheduled in a round-robin manner and are not preempted. Once it gains control, each task runs until it voluntarily blocks. It is up to the programmer who uses this package to ensure that tasks do not run for indefinite amounts of time by relinquishing the CPU via calls to tk_block() or tk_next(), or one of the blocking TK_ macros described below.- This multitasking system contains only task control logic- no semaphores, mailboxes, etc. Tasks are scheduled in a round-robin manner and are not preempted. Once it gains control, each task runs until it voluntarily blocks. It is up to the programmer who uses this package to ensure that tasks do not run for indefinite amounts of time by relinquishing the CPU via calls to tk_block() or tk_next(), or one of the blocking TK_ macros described below.